Graph cache data structure. More...

#include <graph_cache.hpp>

Public Types
using	DemangleFunctionT = std::function< std::string(const std::string &)>

using	NodeEntitiesInfoSeq = decltype(std::declval< rmw_dds_common::msg::ParticipantEntitiesInfo >().node_entities_info_seq)

using	EntityGidToInfo = std::map< rmw_gid_t, EntityInfo, Compare_rmw_gid_t >

using	ParticipantToNodesMap = std::map< rmw_gid_t, ParticipantInfo, Compare_rmw_gid_t >

using	GidSeq = decltype(std::declval< rmw_dds_common::msg::NodeEntitiesInfo >().writer_gid_seq)

Public Member Functions
template<typename CallbackT >
void	set_on_change_callback (CallbackT &&callback)
	Set a callback that will be called when the state of the object changes. More...

void	clear_on_change_callback ()
	Clear previously registered "on change" callback. More...

bool	add_writer (const rmw_gid_t &writer_gid, const std::string &topic_name, const std::string &type_name, const rmw_gid_t &participant_gid, const rmw_qos_profile_t &qos)
	Add a data writer based on discovery. More...

bool	add_reader (const rmw_gid_t &reader_gid, const std::string &topic_name, const std::string &type_name, const rmw_gid_t &participant_gid, const rmw_qos_profile_t &qos)
	Add a data reader based on discovery. More...

bool	add_entity (const rmw_gid_t &gid, const std::string &topic_name, const std::string &type_name, const rmw_gid_t &participant_gid, const rmw_qos_profile_t &qos, bool is_reader)
	Add a data reader based on discovery. More...

bool	remove_writer (const rmw_gid_t &gid)
	Remove a data writer based on discovery. More...

bool	remove_reader (const rmw_gid_t &gid)
	Remove a data reader based on discovery. More...

bool	remove_entity (const rmw_gid_t &gid, bool is_reader)
	Remove a data reader or writer based based on discovery. More...

void	add_participant (const rmw_gid_t &participant_gid, const std::string &enclave)
	Add a discovered participant to the cache. More...

bool	remove_participant (const rmw_gid_t &participant_gid)
	Remove a participant based on discovery. More...

void	update_participant_entities (const rmw_dds_common::msg::ParticipantEntitiesInfo &msg)
	Update participant info based on a received `ParticipantEntitiesInfo` message. More...

rmw_dds_common::msg::ParticipantEntitiesInfo	add_node (const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace)
	Add a node to the graph, and get the message to be sent. More...

rmw_dds_common::msg::ParticipantEntitiesInfo	remove_node (const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace)
	Remove a node to the graph, and get the message to be sent. More...

rmw_dds_common::msg::ParticipantEntitiesInfo	associate_writer (const rmw_gid_t &writer_gid, const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace)
	Remove a node to the graph, and get the message to be sent. More...

rmw_dds_common::msg::ParticipantEntitiesInfo	dissociate_writer (const rmw_gid_t &writer_gid, const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace)
	Dissociate a writer from a node, and get an update message to be sent. More...

rmw_dds_common::msg::ParticipantEntitiesInfo	associate_reader (const rmw_gid_t &reader_gid, const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace)
	Associate a reader with a node, and get an update message to be sent. More...

rmw_dds_common::msg::ParticipantEntitiesInfo	dissociate_reader (const rmw_gid_t &reader_gid, const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace)
	Dissociate a reader from a node, and get an update message to be sent. More...

rmw_ret_t	get_writer_count (const std::string &topic_name, size_t *count) const
	Get the number of publishers of a topic. More...

rmw_ret_t	get_reader_count (const std::string &topic_name, size_t *count) const
	Get the number of subscriptions of a topic. More...

rmw_ret_t	get_writers_info_by_topic (const std::string &topic_name, DemangleFunctionT demangle_type, rcutils_allocator_t allocator, rmw_topic_endpoint_info_array_t endpoints_info) const
	Get an array with information about the writers in a topic. More...

rmw_ret_t	get_readers_info_by_topic (const std::string &topic_name, DemangleFunctionT demangle_type, rcutils_allocator_t allocator, rmw_topic_endpoint_info_array_t endpoints_info) const
	Get an array with information about the readers in a topic. More...

rmw_ret_t	get_names_and_types (DemangleFunctionT demangle_topic, DemangleFunctionT demangle_type, rcutils_allocator_t allocator, rmw_names_and_types_t topic_names_and_types) const
	Get all the topic names and types. More...

rmw_ret_t	get_writer_names_and_types_by_node (const std::string &node_name, const std::string &namespace_, DemangleFunctionT demangle_topic, DemangleFunctionT demangle_type, rcutils_allocator_t allocator, rmw_names_and_types_t topic_names_and_types) const
	Get the topic names and types that a node is publishing. More...

rmw_ret_t	get_reader_names_and_types_by_node (const std::string &node_name, const std::string &namespace_, DemangleFunctionT demangle_topic, DemangleFunctionT demangle_type, rcutils_allocator_t allocator, rmw_names_and_types_t topic_names_and_types) const
	Get the topic names and types that a node is subscribing. More...

size_t	get_number_of_nodes () const
	Get the number of nodes that have been discovered. More...

rmw_ret_t	get_node_names (rcutils_string_array_t node_names, rcutils_string_array_t node_namespaces, rcutils_string_array_t enclaves, rcutils_allocator_t allocator) const
	Copy the names and namespaces of the discovered nodes. More...

Friends
std::ostream &	operator<< (std::ostream &ostream, const GraphCache &topic_cache)

Detailed Description

Graph cache data structure.

Manages relationships between participants, nodes and topics.

Member Typedef Documentation

◆ NodeEntitiesInfoSeq

using rmw_dds_common::GraphCache::NodeEntitiesInfoSeq = decltype(std::declval<rmw_dds_common::msg::ParticipantEntitiesInfo>().node_entities_info_seq)

◆ EntityGidToInfo

using rmw_dds_common::GraphCache::EntityGidToInfo = std::map<rmw_gid_t, EntityInfo, Compare_rmw_gid_t>

◆ ParticipantToNodesMap

using rmw_dds_common::GraphCache::ParticipantToNodesMap = std::map<rmw_gid_t, ParticipantInfo, Compare_rmw_gid_t>

◆ GidSeq

using rmw_dds_common::GraphCache::GidSeq = decltype(std::declval<rmw_dds_common::msg::NodeEntitiesInfo>().writer_gid_seq)

Member Function Documentation

◆ set_on_change_callback()

template<typename CallbackT >

void rmw_dds_common::GraphCache::set_on_change_callback ( CallbackT && callback )

inline

Set a callback that will be called when the state of the object changes.

Parameters

callback callback to be called.

◆ clear_on_change_callback()

void rmw_dds_common::GraphCache::clear_on_change_callback ( )

Clear previously registered "on change" callback.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	ostream,
		const GraphCache &	topic_cache
	)

friend

The documentation for this class was generated from the following file:

include/rmw_dds_common/graph_cache.hpp

Public Types

Public Member Functions

Friends